Abstract
A method of backstepping adaptive dynamical sliding mode control is presented for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transforms the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller is proposed based on backstepping method and dynamical sliding mode control theory. By means of Lyapunov function, it is proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results verify that the controller is robust and adaptive to the systemic variations or disturbances
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
